\begin{align*}
M = T * R * S = 
\[ \left( \begin{array}{cccc}
          2.0 & 0.0   &  0.0   & 10.0 \\
          0.0 & 0.866 & -0.25  & 20.0 \\ 
          0.0 & 0.5   &  0.433 & 30.0 \\ 
          0.0 & 0.0   &  0.0,  &  1.0 \end{array} 
\right)\] 
\end{align*}


